From 6aae39bb1881e847058b4010ccff238b7ecf0202 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 17 Aug 2018 21:20:19 +0200
Subject: [PATCH] added a publish hook for the JointController to publish
custom data in robotunitobserver, debug drawer or debug observer
---
.../units/RobotUnit/JointControllers/JointController.cpp | 5 +++++
.../units/RobotUnit/JointControllers/JointController.h | 4 ++++
.../RobotUnitModules/RobotUnitModulePublisher.cpp | 8 ++++++++
3 files changed, 17 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
index 9638c020a..a28251058 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
@@ -31,3 +31,8 @@ ControlDevice& JointController::getParent() const
ARMARX_CHECK_EXPRESSION_W_HINT(parent, "This JointController is not owned by a ControlDevice");
return *parent;
}
+
+StringVariantBaseMap JointController::publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const
+{
+ return StringVariantBaseMap {};
+}
diff --git a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
index 4d12be87a..9390bc488 100644
--- a/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
@@ -28,6 +28,8 @@
#include <memory>
#include <atomic>
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+
namespace armarx
{
class ControlDevice;
@@ -68,6 +70,8 @@ namespace armarx
ControlDevice& getParent() const;
+ virtual StringVariantBaseMap publish(const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer) const;
+
protected:
ControlDevice& rtGetParent() const;
//called by the owning ControlDevice
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 7a8044b85..a89501904 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -238,6 +238,14 @@ namespace armarx
const auto activeJointCtrl = activatedControllers.jointControllers.at(ctrlidx);
status.activeControlMode = activeJointCtrl ? activeJointCtrl->getControlMode() : std::string {"!!JointController is nullptr!!"};
status.deviceName = ctrlDev.getDeviceName();
+ if (activeJointCtrl)
+ {
+ auto additionalDatafields = activeJointCtrl->publish(debugDrawerPrx, debugObserverPrx);
+ for (auto& pair : additionalDatafields)
+ {
+ ctrlDevMap[ctrlDev.getDeviceName() + "_" + activeJointCtrl->getControlMode() + "_" + pair.first] = pair.second;
+ }
+ }
for (const auto& ctrlVal : controlThreadOutputBuffer.control.at(ctrlidx))
{
--
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